A LUS robotic surgical system is trainable by a surgeon to automatically move a LUS probe in a desired fashion upon command so that the surgeon does not have to do so manually during a minimally invasive surgical procedure. A sequence of 2D ultrasound image slices captured by the LUS probe according to stored instructions are processable into a 3D ultrasound computer model of an anatomic structure, which may be displayed as a 3D or 2D overlay to a camera view or in a PIP as selected by the surgeon or programmed to assist the surgeon in inspecting an anatomic structure for abnormalities. Virtual fixtures are definable so as to assist the surgeon in accurately guiding a tool to a target on the displayed ultrasound image.
Legal claims defining the scope of protection, as filed with the USPTO.
2. The apparatus of claim 1, wherein the target is a lesion marked by a surgeon on the displayed ultrasound view, and the tool is a needle.
4. The apparatus of claim 1, wherein the ultrasound view is a three-dimensional image generated from a sequence of two-dimensional ultrasound image slices of the anatomic structure.
5. The apparatus of claim 1, wherein the anatomic structure is cancerous.
7. The apparatus of claim 1, the processor further configured to generate a virtual fixture to assist in electronically constraining the tool to travel over the predetermined path.
8. The apparatus of claim 7, wherein the ultrasound view is a three-dimensional image generated from a sequence of two-dimensional ultrasound image slices of the anatomic structure.
9. The apparatus of claim 1, further comprising an ultrasound probe capturing the ultrasound view moveable along a defined trajectory of positions and orientations upon receiving a user input command.
10. The apparatus of claim 6, wherein the target is a lesion marked by a surgeon on the ultrasound view, and the tool is a needle.
11. The apparatus of claim 6, wherein the ultrasound view is a three-dimensional image generated from a sequence of two-dimensional ultrasound image slices of the anatomic structure.
12. The apparatus of claim 6, wherein the anatomic structure is cancerous.
13. The apparatus of claim 6, the processor further configured to generate a virtual fixture to assist in electronically constraining the tool to travel over the predetermined path.
14. The apparatus of claim 13, wherein the ultrasound view is a three-dimensional image generated from a sequence of two-dimensional ultrasound image slices of the anatomic structure.
15. The apparatus of claim 6, further comprising an ultrasound probe capturing the ultrasound view moveable along a defined trajectory of positions and orientations upon receiving a user input command.
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June 12, 2023
October 8, 2024
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